Calibration assembly of C-arm machine

Abstract

The utility model discloses a calibration assembly of a C-arm machine, and the calibration assembly is used for calibrating the C-arm machine, and comprises a fixed support which is fixed on a receiver of the C-arm machine and comprises a frame body matched with the shape of the receiver; the calibration plate is arranged on the frame body and comprises a rectangular body and a plurality of first calibration balls which are arranged on the rectangular body according to a row and column rule and are used for shooting of the C-arm machine; wherein the outer contours of the plurality of first calibration balls are pentagons with two obtuse angles and three right angles. According to the calibration assembly provided by the invention, the frame body matched with the receiver of the C-arm machine in shape is arranged, and the fixed bracket is fixed on the receiver, so that correct installation of the calibration plate on the receiver can be ensured, and the calibration accuracy and precision are ensured; the first calibration ball in the pentagonal shape with the two obtuse angles and the three right angles is arranged to provide obvious geometrical characteristics, position information of the first calibration ball can be recognized easily, and calibration precision is improved.

Description

Technical Field

[0001] The present application relates to the field of calibration technology, and in particular to a calibration component of a C-arm machine. Background Art

[0002] As an X-ray imaging device, C-arm is widely used in surgical navigation systems, specifically in interventional radiology and orthopedic surgery. However, X-ray images taken with C-arm will have S-shaped distortion, pincushion distortion, local distortion and other deformation distortions. Therefore, X-ray images taken with C-arm need to be calibrated using calibration components and calibration algorithms to ensure that medical workers can accurately determine the location of the lesion. Among them, the structure of the calibration component will affect the accuracy of the entire surgical navigation system. At present, most calibration components have a complex structure and high requirements for the calibration algorithm, which increases the complexity of the calibration process, making it difficult to ensure the accuracy of the calibration. Therefore, how to provide a calibration component with a simple structure to ensure the calibration accuracy is a technical problem that needs to be solved urgently by technicians in this field. Summary of the invention

[0003] In view of the shortcomings of the above-mentioned related technologies, the purpose of the present application is to provide a calibration component for a C-arm machine, so as to overcome the technical problem of low calibration accuracy of the C-arm machine caused by the complex structure of the calibration component in the above-mentioned related technologies.

[0004] To achieve the above-mentioned purpose and other related purposes, the present application provides a calibration component of a C-arm machine, which is used to calibrate the C-arm machine, including: a fixed bracket, fixed on a receiver of the C-arm machine, including a frame adapted to the shape of the receiver; a calibration plate, arranged on the frame, including a rectangular body and a plurality of first calibration balls arranged on the rectangular body in rows and columns for the C-arm machine to shoot; wherein the outer contour of the plurality of first calibration balls is a pentagon with two obtuse angles and three right angles.

[0005] In certain embodiments disclosed in the present application, the short sides of the rectangular body are connected to the frame.

[0006] In certain embodiments disclosed in the present application, the frame has a hollow area, and the rectangular body partially covers the hollow area when supported on the frame.

[0007] In certain embodiments disclosed in the present application, at least one second calibration ball for marking direction is further provided on the rectangular body, and the second calibration ball is located outside the outer contour and has a diameter greater than that of the first calibration ball.

[0008] In certain embodiments disclosed in the present application, the rectangular body is a plastic plate, and the first calibration ball and the second calibration ball are tantalum beads.

[0009] In certain embodiments disclosed in the present application, a diameter of the second calibration sphere is an integer multiple of a diameter of the first calibration sphere.

[0010] In certain embodiments disclosed in the present application, countersunk holes for mounting the first calibration ball and the second calibration ball are provided on the surface of the rectangular body.

[0011] In certain embodiments disclosed in the present application, the two obtuse angles are both 135°.

[0012] In certain embodiments disclosed in the present application, the row and column rules are configured such that each row and each column are evenly distributed, and the row spacing is equal to the column spacing.

[0013] In certain embodiments disclosed in the present application, the calibration assembly further includes a positioning device for positioning the C-arm machine, and the positioning device is disposed on a short side of the rectangular body and outside the frame.

[0014] In certain embodiments disclosed in the present application, the positioning device includes at least one of a two-dimensional code positioning device and an infrared positioning device.

[0015] In certain embodiments disclosed in the present application, the QR code positioning device is vertically arranged on the short side of the rectangular body, and the QR code positioning device includes three QR codes distributed in a convex shape, and the vertical distance between the center of each of the QR codes and the center of the first calibration sphere is an integer multiple of 10 mm.

[0016] In certain embodiments disclosed in the present application, the frame is configured as a circular frame or a square frame, and a first fixing portion and a second fixing portion are provided on the rectangular body, the first fixing portion is used to connect to the circular frame, and the second fixing portion is used to connect to the square frame.

[0017] In certain embodiments disclosed in the present application, the fixing bracket includes a fixing structure, and the fixing structure is used to fix the frame on the receiver.

[0018] In certain embodiments disclosed in the present application, a protrusion having a plurality of mounting positions is provided on the edge of the frame, the plurality of mounting positions are arranged at intervals in the radial direction of the frame, and cooperate with the fixing structure to adapt to receivers of different sizes.

[0019] In certain embodiments disclosed in the present application, the fixing structure includes a fixing member connected to the frame and a locking member, wherein the locking member is connected to the fixing member to be locked to or released from the receiver by twisting.

[0020] In certain embodiments disclosed in the present application, the fixing structure is configured as an extension portion extending in a circumferential direction of the frame, and the extension portion is inserted into an adaptor structure on the receiver so that the frame is fixed on the receiver of the C-arm machine.

[0021] In certain embodiments disclosed in the present application, the extension portion is recessed toward the frame body to form a positioning hole, and the positioning hole is used to cooperate with a screw to lock the frame body on the receiver.

[0022] In summary, the calibration component of the C-arm machine provided in the present application, by setting a frame that is compatible with the shape of the receiver of the C-arm machine and fixing the fixed bracket on the receiver, can prevent the calibration plate set on the frame from being offset relative to the receiver, ensure the correct installation of the calibration plate on the receiver, and thus ensure the accuracy and precision of the calibration. By setting a first calibration ball in the shape of a pentagon with two obtuse angles and three right angles to provide obvious geometric features, it is helpful to identify the position information of the first calibration ball, simplify the structure of the calibration component, and improve the accuracy of the calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The features and advantages of the inventions of the present application can be better understood by referring to the exemplary embodiments and drawings described in detail below. The drawings are briefly described as follows:

[0024] Figure 1 and Figure 2 They are respectively shown as schematic diagrams of the structures of the C-arm machines in different embodiments of the present application.

[0025] Figure 3 and Figure 4 Shown are schematic diagrams of the structures of the calibration components in different embodiments of the present application.

[0026] Figure 5 Shown is a schematic diagram of the disassembled structure of a fixing bracket in one embodiment of the present application.

[0027] Figure 6 Show this application Figure 5 An enlarged schematic diagram of point A of the frame in the illustrated embodiment.

[0028] Figure 7 Shown is a schematic structural diagram of a calibration plate at a certain viewing angle in one embodiment of the present application.

[0029] Figure 8 Shown is a schematic diagram of the arrangement of the first calibration sphere in one embodiment of the present application.

[0030] Fig. 9 Show this application Figure 7 A partially enlarged schematic diagram of the first calibration sphere and the second calibration sphere in the illustrated embodiment.

[0031] Fig.10 Shown is a schematic diagram of a two-dimensional code positioning device configured on a calibration plate in one embodiment of the present application. DETAILED DESCRIPTION

[0032] The following is an explanation of the implementation of the present application by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification.

[0033] The present application is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The technical solutions in the embodiments of the present application are clearly and completely described. Obviously, the described embodiments are only embodiments of a part of the present application, rather than all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application. The "one embodiment", "implementation method" or similar words mentioned in the whole text of this specification mean that the specific features, structures or characteristics described together with the implementation method are included in at least one implementation method of the present application. Therefore, in the whole text of this specification, the appearance of the phrases "in one embodiment", "in an embodiment", "in an embodiment" and similar words may (but not necessarily) relate to the same embodiment.

[0034] Although in some instances the terms first, second, etc. are used in this document to describe various elements or parameters, these elements or parameters should not be limited by these terms. These terms are only used to distinguish one element or parameter from another element or parameter. For example, a first calibration sphere may be referred to as a second calibration sphere, and similarly, a second calibration sphere may be referred to as a first calibration sphere without departing from the scope of the various described embodiments. The first calibration sphere and the second calibration sphere are both describing a calibration sphere, but unless the context clearly indicates otherwise, they are not the same calibration sphere. Similar situations also include a first receiver and a second receiver, a first fixing portion and a second fixing portion, etc.

[0035] Furthermore, as used in this article, the singular forms "one", "an" and "the" are intended to include plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions, steps or operations is inherently mutually exclusive in some way.

[0036] In view of the technical problems mentioned in the background technology, the present application discloses a calibration component for a C-arm machine. By setting a frame that is compatible with the shape of a receiver of the C-arm machine and fixing a fixed bracket on the receiver, the calibration plate set on the frame can be prevented from being offset relative to the receiver, ensuring the correct installation of the calibration plate on the receiver, thereby ensuring the accuracy and precision of the calibration. By setting a first calibration ball in the shape of a pentagon with two obtuse angles and three right angles to provide obvious geometric features, it is helpful to identify the position information of the first calibration ball, simplify the structure of the calibration component, and improve the accuracy of the calibration.

[0037] The calibration component described in the present application is configured on a C-arm machine for calibrating the C-arm machine, and the C-arm machine can be configured in a surgical navigation system to help doctors perform surgical operations. The surgical navigation system is used to provide positioning information on the target object and / or navigation information of the surgical path to the doctor or the robotic arm performing the operation during the operation.

[0038] In one embodiment, the surgical navigation system may include an optical positioning tracking device (e.g., an NDI camera), a computer device, and a robot in addition to a C-arm. The computer device is connected to the optical positioning tracking device, the C-arm, and the robot in a communicative manner. For example, the computer device may match the X-ray image taken by the C-arm during surgery with the image data (e.g., CT data) before surgery. The optical positioning tracking device may use the tracking devices respectively arranged on the C-arm, the robot, and the target to track the positions of the three in real time. In other words, the optical positioning tracking device may determine the coordinate positions of the C-arm, the robot, and the target in its coordinate system in real time. Among them, the robot may be, for example, a mechanical arm for clamping surgical instruments, and the target may be, for example, a human body, an animal body, or a model.

[0039] See also Figure 1and Figure 2 , respectively show schematic diagrams of the structures of the C-arm machine in different embodiments of the present application. As shown in the figure, in one embodiment, the C-arm machine includes a transmitter 1, a receiver 2, and an arm support 3. The transmitter 1 is used to generate X-rays to pass through the target body. The receiver 2 is used to receive the X-rays that pass through the target body to form an X-ray image, and the transmitter 1 and the receiver 2 are respectively located at both ends of the arm support 3. The arm support 3 is a C-shaped frame, which is used to support the transmitter 1 and the receiver 2, and can rotate around the target body to obtain X-ray images at different angles.

[0040] In order to provide a sufficient imaging range to meet different imaging requirements, the receiver can be configured in different shapes, for example, Figure 1 In the embodiment shown, the receiver 2 is a cylindrical structure. Figure 2 In the embodiment shown, the receiver 2 is a rectangular parallelepiped structure. Figure 1 The receiver with a cylindrical structure shown is called the first receiver. Figure 2 The receiver shown having a rectangular parallelepiped structure is referred to as a second receiver.

[0041] See also Figure 3 and Figure 4 , which are schematic diagrams of the structure of the calibration components in different embodiments of the present application, such as Figure 3 and Figure 4 As shown, the calibration assembly 4 includes a fixing bracket 41 and a calibration plate 42, and the fixing bracket 41 is fixed on the receiver of the C-arm machine.

[0042] In order to achieve the fixation of the calibration component and the receiver, such as Figure 3 and Figure 4 As shown, the fixing bracket 41 includes a frame 411, and the frame 411 is adapted to the shape of the receiver. In this way, the fixing bracket 41 can be firmly fixed on the receiver and the weight of the fixing bracket 41 can be reduced.

[0043] For example, in one embodiment, in order to adapt to the first receiver, the frame 411 can be configured as a circular frame (in the shape of Figure 3 In another embodiment, in order to match the second receiver, the frame 411 can be configured as a square frame (as shown in Figure 4 Of course, in some other embodiments, the frame can also be configured in other shapes as long as it matches the shape of the receiver.

[0044] In one embodiment, a protrusion having a plurality of mounting positions is disposed on the edge of the frame, and the plurality of mounting positions are arranged at intervals in the radial direction of the frame to accommodate receivers of different sizes.

[0045] The radial direction refers to the straight line direction from the center point of the frame to the outside. Specifically, when the frame is in a circular ring shape (such as Figure 3 The radial direction refers to the direction along the diameter of the frame. When the frame is square (shown as Figure 4 The radial direction refers to the direction from the center point of the frame toward the edge of the frame, but is not limited to this. The protrusion with multiple mounting positions can be configured on frames of various shapes to adapt to receivers with different shapes and sizes.

[0046] In one embodiment, the frame and the protrusion are connected in a fixed manner, and the fixed connection includes but is not limited to welding, bonding, mortise and tenon connection, and integral molding, etc. Preferably, the frame and the protrusion can be formed in an integral molding manner.

[0047] In one embodiment, see Figure 5 , which is a schematic diagram of the disassembled structure of the fixing bracket in one embodiment of the present application. As shown in the figure, a protrusion 413 is provided on the edge of the frame 411. Figure 5 In the example shown, the protrusions are configured in four numbers and are evenly distributed along the circumference of the frame 411. Figure 6 , shown as this application Figure 5 The enlarged schematic diagram of the frame A in the embodiment shown. Figure 6 As shown, the protrusion 413 has a mounting position 414, and the mounting position 414 is configured as three through holes arranged at intervals along the radial direction of the frame to adapt to receivers of different sizes.

[0048] In some embodiments, in order to reduce the overall weight of the frame and make the calibration components easy to install and move, the frame also has a plurality of hollow structures, and the hollow structures can be configured into any shape. For example, the hollow structures can be configured into long strips and symmetrically distributed on the frame so that the center of gravity of the frame coincides with the center.

[0049] In order to cooperate with the protrusion having multiple installation positions on the frame to achieve the fixation of receivers of different sizes, the fixing bracket includes a fixing structure.

[0050] In one embodiment, if Figure 5 As shown, the fixing bracket 41 includes a fixing structure 412, and the fixing structure 412 is used to fix the frame 411 on a receiver (for example, a first receiver). Figure 5 In the example shown, four fixing structures 412 are configured and evenly distributed along the circumference of the frame 411. Figure 5 The fixing structure 412 shown is used to fix the frame on the first receiver for illustration purposes only and should not be construed as a limitation to the present application.

[0051] In one embodiment, the fixing structure 412 includes a fixing member 4121 and a locking member 4122 . The fixing member 4121 is connected to the frame 411 . The locking member 4122 is connected to the fixing member 4121 to be locked to or released from the first receiver 2 by twisting.

[0052] In some embodiments, the end surface of the fixing member in contact with the first receiver has a certain curvature, which can match the curvature of the circumferential surface of the first receiver to expand the force range of the first receiver on the circumferential surface. In some embodiments, an elastic element is also provided on the end surface of the fixing member in contact with the first receiver, and the elastic element can be attached to the circumferential surface of the first receiver, and while pressing the first receiver, it has a buffering effect on the first receiver to prevent damage to the first receiver due to rigid contact. The elastic element can be, for example, rubber.

[0053] In one embodiment, the locking member 4122 may be fixedly connected to the fixing member 4121. For example, the fixing member 4121 may be provided with a screw hole. Matchingly, the locking member 4122 may be provided with a thread. The thread and the screw hole cooperate with each other to achieve the fixed connection between the locking member 4122 and the fixing member 4121. When the locking member 4122 rotates clockwise along the screw hole, the fixing member 4121 is tightened on the first receiver 2. When the locking member 4122 rotates counterclockwise along the screw hole, the fixing member 4121 is loosened on the first receiver 2.

[0054] When it is necessary to adapt to first receivers of different sizes, the fixing member 4121 has a screw hole, and the bolt 415 passes through the through hole of the protrusion 413 and is connected to the screw hole on the fixing member 4121, so as to achieve the connection between the fixing structure 412 and the frame 411. When the frame is fixed to the receiver, the frame can be fixed by tightening the locking member 4122 so that the fixing member 4121 is against the circumferential surface of the first receiver. When the first receiver to be connected has a larger diameter, the bolt 415 and the fixing structure 412 only need to be moved outward along the radial direction of the frame to another through hole to fix the frame to the first receiver of the larger diameter. In this way, first receivers of different sizes can be adapted by adjusting the position of the bolt and the fixing structure relative to the through hole.

[0055] Of course, the fixing bracket may also be in other forms. For example, in another embodiment, Figure 4 As shown, the fixing bracket 41 includes a fixing structure 412, and the fixing structure 412 is used to fix the frame body on the receiver. For example, the fixing structure 412 can Figure 4 The square frame shown is fixed on a second receiver having a rectangular parallelepiped structure. Figure 4In the illustrated embodiment, the fixing structure 412 is configured as an extension portion extending in the circumferential direction of the frame body 411 , and the extension portion is inserted into a matching structure on the receiver 2 so that the frame body 411 is fixed on the receiver 2 .

[0056] In some embodiments, the receiver 2 is provided with a groove on the circumference of the end face close to the transmitter 1, and the extension part can be inserted into the groove from one side of the end face of the transmitter to fix the frame on the receiver. In some other embodiments, the receiver is provided with a magnetic structure or a suction cup structure, and the frame is fixed on the receiver through the magnetic structure or the suction cup structure.

[0057] In one embodiment, if Figure 4 As shown, the depression of the extension portion toward the frame body forms a positioning hole 416, and the positioning hole 416 is used to cooperate with a screw to lock the frame body 411 on the receiver of the C-arm machine. In some other embodiments, the positioning holes can be configured as multiple, specifically, they can be configured in the circumference of the frame body, and respectively cooperate with screws to firmly lock the frame body on the receiver.

[0058] It should be noted here that Figure 4 and Figure 5 The fixed structure 412 shown is only for illustrative purposes and should not be construed as limiting the present application. The configuration of the fixed structure is flexible. Figure 4 and Figure 5 The fixing structure 412 shown can be respectively configured on frames of various shapes, and further adapted to receivers of corresponding shapes.

[0059] like Figure 3 and Figure 4 As shown, the calibration plate 42 is arranged on the frame 411, see Figure 7 Combined with Figure 3 and Figure 4 ,in, Figure 7 The diagram is a schematic diagram of the structure of a calibration plate in one embodiment of the present application at a certain viewing angle. As shown in the figure, the calibration plate 42 includes a rectangular body 421 and a first calibration ball 422 .

[0060] exist Figure 7 In the illustrated embodiment, the rectangular body 421 has a short side 4211 and a long side 4212 , the length of the short side 4211 is shorter than the length of the long side 4212 , and the short side 4211 is connected to the frame 411 .

[0061] In one embodiment, the frame has a hollow area, and the rectangular body 421 partially covers the hollow area when supported on the frame to reduce the weight of the calibration component. Figure 3In the example shown, the annular frame 411 has a circular hollow area 417. When the rectangular body is supported on the annular frame 411, the circular hollow area 417 is partially covered to form two semicircular spaces. Based on this, the length of the short side of the rectangular body should be less than the diameter of the annular frame 411. Figure 4 In the example shown, the square frame 411 has a square hollow area 417. When the rectangular body is supported on the square frame 411, the square hollow area is partially covered to form two square spaces. Based on this, the length of the short side of the rectangular body should be less than the length of the same side edge of the square frame 411. It should be understood that the rectangular body does not necessarily cover the middle position of the hollow area, and the specific installation position should be determined according to actual use requirements.

[0062] In order to fix the calibration plate on the frame, the rectangular body has a fixing portion. As described in the above embodiment, the frame has different shapes. In order to enable the calibration plate to be fixed on frames of different shapes, such as Figure 7 As shown, the rectangular body 421 is provided with a first fixing portion 4213 and a second fixing portion 4214. Figure 7 In the example shown, four first fixing parts 4213 are configured to be connected to the annular frame, for example Figure 3 The frame 411 is connected to present Figure 3 The first fixing portion 4213 may be, for example, a screw hole, in which a thread is provided, and correspondingly, the rectangular body 421 and the frame 411 may be connected by a screw, for example, when the screw is rotated clockwise along the screw hole, the frame 411 is fixed to the rectangular body 421, and when the screw is rotated counterclockwise along the screw hole, the frame 411 may be detached from the rectangular body 421.

[0063] The second fixing portion 4214 is configured in two parts and is used to connect with the square frame, for example Figure 4 The frame 411 is connected to present Figure 4 The structure of the second fixing portion 4214 can be the same as that of the first fixing portion 4213, and will not be described in detail here.

[0064] In some embodiments, in order to reduce the weight of the calibration plate, a plurality of through holes are disposed on the rectangular body. The through holes may be of any shape. For example, the plurality of through holes may be circular and symmetrically distributed on the rectangular body.

[0065] The first calibration balls 422 are configured in multiple numbers and are evenly arranged on the rectangular body 421 in rows and columns for C-arm imaging.

[0066] In one embodiment, the row and column rule is configured such that each row and column are evenly distributed, and the row spacing is equal to the column spacing. Figure 8 , which is a schematic diagram showing the arrangement of the first calibration balls in one embodiment of the present application. As shown in the figure, there are forty-three first calibration balls, each circle represents a calibration ball, and the direction of the rows is the direction shown by the solid line R in the figure, and the direction of the columns is the direction shown by the dotted line C in the figure. Figure 8 In the example shown, the distances between the centers of any two adjacent calibration balls in the row direction and the column direction are equal, the distance between the centers of any two calibration balls in the row direction is defined as the row distance, denoted by d1, and the distance between the centers of any two calibration balls in the column direction is defined as the column distance, denoted by d2. In this example, d1 = d2. In some other embodiments, the number of first calibration balls can be set to any number, and the row distance d1 may not be equal to the column distance d2, which is determined according to actual needs.

[0067] In one embodiment, the outer contour of the plurality of first calibration spheres 422 is a pentagon having two obtuse angles and three right angles. In one example, the two obtuse angles are both 135°. Figure 8 In the example, the outer contour of the first calibration sphere 422 is a pentagon formed by the dotted line m, and the pentagon has two obtuse angles α and β, both of which are 135°, and the other three angles are all 90°. In this embodiment, the pentagon formed by the outer contour m provides obvious geometric features, which is helpful for identifying the position information of each first calibration sphere. In addition, the two obtuse angles and three right angles provide additional identification information, which can further ensure the accuracy of calibration. Of course, in some other embodiments, the outer contours of the multiple first calibration spheres can also be other shapes, such as rectangles, hexagons, etc.

[0068] In order to facilitate marking the directions of the plurality of first calibration balls (for example, marking the x-axis direction and the y-axis direction of the plurality of first calibration balls), at least one second calibration ball is further provided on the rectangular body. Figure 7 As shown, a second calibration ball 423 is disposed on the rectangular body 421 , the second calibration ball is located outside the outer contour of the first calibration ball, and the diameter of the second calibration ball 423 is greater than the diameter of the first calibration ball 422 .

[0069] In one embodiment, the diameter of the second calibration sphere 423 is an integer multiple of the first calibration sphere 422 . For example, the diameter of the first calibration sphere 422 may be configured to be 2 mm, and the diameter of the second calibration sphere 423 may be configured to be 4 mm.

[0070] In one implementation, the distance between the center of the second calibration sphere and the center of the first calibration sphere closest to it, as well as the row spacing and column spacing of the first calibration spheres are all known. The computer device can establish a coordinate system with the first calibration sphere closest to the second calibration sphere as the origin, and determine the physical position information of each first calibration sphere according to the distance between each center. The physical position information refers to the position information of each first calibration sphere in the coordinate system established with the first calibration sphere closest to the second calibration sphere as the origin, including the physical coordinates of the sequence of first calibration spheres. For example, the physical position information of a first calibration sphere can be described as a i (x i ,y i ), where i represents the sequence of the marker and (x, y) represents the physical coordinates of the marker.

[0071] See also Fig. 9 Combined with Figure 7 ,in, Fig. 9 Show this application Figure 7 The embodiment shown is a partial enlarged schematic diagram of the first calibration ball and the second calibration ball. Fig. 9 As shown, the second calibration sphere 423 is on the same line as the first calibration sphere a1, and the distance d3 therebetween is 40 mm. The row spacing d1 and the column spacing d2 of the first calibration sphere are both 10 mm. When a coordinate system is established with the first calibration sphere a1 as the origin, the physical position information of each first calibration sphere can be obtained. For example, the physical position information of the first calibration sphere a1 is a1(0, 0), the coordinates of the first calibration sphere a2 are a2(10, 0), and the coordinates of the first calibration sphere a3 are a3(10, 10).

[0072] In order to facilitate imaging, in one embodiment, the rectangular body 421 is a plastic plate, and the first calibration ball 422 and the second calibration ball 423 are both configured as tantalum beads. It should be understood that the plastic plate can be penetrated by the X-rays emitted by the transmitter of the C-arm machine, while the tantalum beads cannot be penetrated. Therefore, the high visual contrast makes the imaging of the first calibration ball and the second calibration ball on the C-arm machine clearer, thereby improving the accuracy of calibration and making the calibration process more reliable. In certain other embodiments, the material of the rectangular body can also be glass, and the material of the first calibration ball and the second calibration ball can be other metals such as lead.

[0073] In one embodiment, the surface of the rectangular body is provided with countersunk holes for installing the first calibration ball and the second calibration ball. For the sake of distinction, the countersunk hole for installing the first calibration ball is referred to as the first countersunk hole, and the countersunk hole for installing the second calibration ball is referred to as the second countersunk hole. The first countersunk hole and the second countersunk hole will not be described in detail later. In order to stably fix the first calibration ball and the second calibration ball on the rectangular body, the diameter of the first countersunk hole is slightly smaller than the diameter of the first calibration ball, and the diameter of the second countersunk hole is slightly smaller than the diameter of the second calibration ball. In this way, when a certain pressure is applied to the first calibration ball and the second calibration ball, the first calibration ball and the second calibration ball can be firmly engaged in the first countersunk hole and the second countersunk hole, respectively.

[0074] In one embodiment, please combine Figure 3 and Figure 7 As shown in the figure, the first countersunk hole and the second countersunk hole are located on one side of the calibration plate. When the calibration component is configured on the receiver, the side having the first countersunk hole and the second countersunk hole faces the receiver.

[0075] In certain other embodiments, the first countersunk hole and the second countersunk hole may also be configured as through holes, and the first calibration ball and the second calibration ball are embedded in the through holes, but it is not limited to this, as long as the first calibration ball and the second calibration ball can be fixed and the X-ray emitted by the transmitter of the C-arm machine cannot penetrate the first calibration ball and the second calibration ball.

[0076] In one embodiment, the calibration component 4 further includes a positioning device 43, and the positioning device 43 is used to position the C-arm machine. In one embodiment, Figure 3 and Figure 4 As shown, the positioning device 43 is arranged on the short side of the rectangular body and is located outside the frame 411.

[0077] exist Figure 3 and Figure 4 In the illustrated embodiment, the positioning device includes a QR code positioning device, on which a QR code is provided, which can be recognized, for example, by AR glasses. The AR glasses are provided with a camera and a reading head, which can recognize and read the QR code on the QR code positioning device, thereby obtaining the position information of the C-arm machine and realizing accurate positioning of the C-arm machine.

[0078] In another embodiment, the positioning device includes an infrared positioning device. For example, the infrared positioning device can be a steel ball coated with a material capable of reflecting infrared light, which can be recognized by an NDI camera, for example. The NDI camera can track and capture the infrared positioning device, thereby obtaining the position information of the C-arm machine.

[0079] In another embodiment, the positioning device includes a QR code positioning device and an infrared positioning device. Through the cooperation of the two positioning devices, the positioning requirements of the C-arm machine under different conditions can be met, and high-precision positioning and real-time position monitoring can be achieved, thereby improving the reliability of the C-arm machine positioning.

[0080] In an embodiment in which the positioning device includes a QR code positioning device, the QR code positioning device is vertically arranged on the short side of a rectangular body, and the connection method between the QR code positioning device and the rectangular body is a fixed connection, and the fixed connection method includes but is not limited to welding, bonding, mortise and tenon connection, etc. For example, screw holes are arranged at one end of the QR code positioning device and the short side of the rectangular body, and screws are used to fix the QR code positioning device to the rectangular body.

[0081] In one embodiment, see Fig.10 , which is a schematic diagram of a two-dimensional code positioning device configured on a calibration plate in one embodiment of the present application. As shown in the figure, the two-dimensional code positioning device includes three two-dimensional codes distributed in a convex shape, and the vertical distance between the center of each two-dimensional code and the center of the first calibration ball is an integer multiple of 10mm. Specifically, Fig.10 The black dot shown in the figure represents the center of the two-dimensional code, and the vertical distance refers to the distance between the center of the two-dimensional code and the center of the first calibration ball in the direction perpendicular to the rectangular body. Fig.10 In the illustrated embodiment, the vertical distances between the centers of the three two-dimensional codes and the center of the first calibration sphere are expressed as d4, d5, and d6, respectively, which means that d4, d5, and d6 are all integer multiples of 10 mm. It should be understood that, where two two-dimensional codes are arranged side by side, the line connecting the centers of the two two-dimensional codes is parallel to the calibration plate 42, so their vertical distances d4 and d5 from the center of the first calibration sphere are equal.

[0082] In summary, in order to overcome the technical problem of low calibration accuracy of C-arm machine caused by the complex structure of the calibration component existing in the related art, the calibration component of the C-arm machine provided in the present application, by setting a frame body that is compatible with the shape of the receiver of the C-arm machine, fixes the fixed bracket on the receiver, and can ensure the correct installation of the calibration plate on the receiver, thereby ensuring the accuracy and precision of the calibration. By setting a calibration plate that can be configured in both a square frame and a circular frame, the applicability of the calibration plate is improved and the structure of the calibration component is simplified. By setting a raised portion with multiple mounting positions on the edge of the frame, the frame can be adapted to receivers of different sizes. Further, in conjunction with the fixed structure, the installation and replacement of the calibration component on the receiver is more convenient. By setting a first calibration ball in the shape of a pentagon with two obtuse angles and three right angles to provide obvious geometric features, it is helpful to identify the position information of the first calibration ball and improve the accuracy of the calibration.

[0083] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A calibration component for a C-arm machine, used for calibrating the C-arm machine, characterized in that: include: A fixed bracket, fixed on the receiver of the C-arm machine, comprising a frame body adapted to the shape of the receiver; The calibration plate is arranged on the frame, and includes a rectangular body and a plurality of first calibration balls arranged on the rectangular body in rows and columns for the C-arm to photograph; wherein the outer contours of the plurality of first calibration balls are pentagons with two obtuse angles and three right angles.

2. The C-arm calibration assembly according to claim 1, characterized in that: The short sides of the rectangular body are connected to the frame.

3. The calibration assembly of the C-arm machine according to claim 1, characterized in that: The frame has a hollow area, and the rectangular body partially covers the hollow area when supported on the frame.

4. The calibration assembly of the C-arm machine according to claim 1, characterized in that: At least one second calibration ball for marking a direction is also provided on the rectangular body. The second calibration ball is located outside the outer contour and the diameter of the second calibration ball is greater than the diameter of the first calibration ball.

5. The calibration assembly of the C-arm machine according to claim 4, characterized in that: The rectangular body is a plastic plate, and the first calibration ball and the second calibration ball are tantalum beads.

6. The calibration assembly of the C-arm machine according to claim 4, characterized in that: The diameter of the second calibration sphere is an integer multiple of the diameter of the first calibration sphere.

7. The calibration assembly of the C-arm machine according to claim 4, characterized in that: Countersunk holes for installing the first calibration ball and the second calibration ball are arranged on the surface of the rectangular body.

8. The calibration assembly of the C-arm machine according to claim 1, characterized in that: The two obtuse angles are both 135°.

9. The calibration assembly of the C-arm machine according to claim 8, characterized in that: The row and column rule is configured such that each row and each column are evenly distributed, and the row spacing is equal to the column spacing.

10. The calibration assembly of a C-arm machine according to claim 1, characterized in that: The calibration component also includes a positioning device for positioning the C-arm machine, and the positioning device is arranged on the short side of the rectangular body and located outside the frame.

11. The C-arm calibration assembly according to claim 10, characterized in that: The positioning device includes at least one of a two-dimensional code positioning device and an infrared positioning device.

12. The C-arm calibration assembly according to claim 11, characterized in that: The two-dimensional code positioning device is vertically arranged on the short side of the rectangular body, and the two-dimensional code positioning device includes three two-dimensional codes distributed in a convex shape. The vertical distance between the center of each of the two-dimensional codes and the center of the first calibration sphere is an integer multiple of 10 mm.

13. The calibration assembly of a C-arm machine according to claim 1, characterized in that: The frame is configured as a circular frame or a square frame, and a first fixing portion and a second fixing portion are provided on the rectangular body, wherein the first fixing portion is used to connect with the circular frame, and the second fixing portion is used to connect with the square frame.

14. The C-arm calibration assembly according to claim 1, characterized in that: The fixing bracket includes a fixing structure, and the fixing structure is used to fix the frame on the receiver.

15. The C-arm calibration assembly according to claim 14, characterized in that: A protrusion with a plurality of mounting positions is arranged on the edge of the frame. The plurality of mounting positions are arranged at intervals in the radial direction of the frame and cooperate with the fixing structure to adapt to receivers of different sizes.

16. The C-arm calibration assembly according to claim 14 or 15, characterized in that: The fixing structure comprises a fixing member connected to the frame and a locking member, wherein the locking member is connected to the fixing member to be locked to or released from the receiver by twisting.

17. The calibration assembly of a C-arm machine according to claim 14, characterized in that: The fixing structure is configured as an extension portion extending in the circumferential direction of the frame, and the extension portion is inserted into an adapting structure on the receiver so that the frame is fixed on the receiver of the C-arm machine.

18. The C-arm calibration assembly according to claim 17, characterized in that: The extension portion is recessed toward the frame body to form a positioning hole, and the positioning hole is used to cooperate with a screw to lock the frame body on the receiver.

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